isprsarchives XXXIX B1 411 2012
International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXIX-B1, 2012
XXII ISPRS Congress, 25 August – 01 September 2012, Melbourne, Australia
VISUAL UAV TRAJECTORY PLAN SYSTEM BASED ON NETWORK MAP
XiuLi Lia *, ZongJian Linb,GuoZhong Sub, BoYi Wuc
Wu Han University, Wu Han, China. [email protected]
b
Chinese Academy of Surveying and Mapping, Beijing, China. [email protected] c
Foundation Geographical Information Courtyard of Shanxi Province,Shanxi Province, China.
a
Commission I, ICWG I/V
KEY WORDS: Trajectory Planning, Image, UAV, Google earth, Map, Parameter
ABSTRACT :
The base map of the current software UP-30 using in trajectory plan for Unmanned Aircraft Vehicle is
vector diagram. UP-30 draws navigation points manually. But in the field of operation process, the
efficiency and the quality of work is influenced because of insufficient information, screen reflection,
calculate inconveniently and other factors. If we do this work in indoor, the effect of external factors on
the results would be eliminated, the network earth users can browse the free world high definition
satellite images through downloading a client software, and can export the high resolution image by
standard file format. This brings unprecedented convenient of trajectory plan. But the images must be
disposed by coordinate transformation, geometric correction. In addition, according to the requirement
of mapping scale ,camera parameters and overlap degree we can calculate exposure hole interval and
trajectory distance between the adjacent trajectory automatically . This will improve the degree of
automation of data collection. Software will judge the position of next point according to the
intersection of the trajectory and the survey area and ensure the position of point according to trajectory
distance. We can undertake the points artificially. So the trajectory plan is automatic and flexible.
Considering safety, the date can be used in flying after simulating flight. Finally we can export all of
the date using a key
.
into MAPINFO format (. GST document)
and use them as background map. On the
other hand, we can choose scanning map
whose format is grid, before using. Image
registration was needed.
2.2
Another method of obtaining the
image data
If there is no way to get known data,
another method to obtain the image data is
downloading them from Google Earth. And
the downloading image is more intuitive
than the existing map data. GETSCREEN
downloads satellite images according to the
grid you draw and automatic split joint, in
addition you can set up the height. The
format of the images is JPG and BMP, JPG
format generates a map file which contains
eleven options of the image information, as
follows: longitude of the first point, latitude
of the first point, height, the resolution X,
Y, transverse pixel, longitudinal pixel,
1.INTRODUCTION
UAV remote sensing technology takes
Unmanned Aerial Vehicle as remote
sensing
platform,
uses
Color,
Monochrome,
Infrared
photographic
technique to shoot the image,and processes
image information use the computer. It's
advantages are nimble and flexible, simple
and reliable, excellent properties, high
resolution. trajectory plan is one Basal and
important task of acquiring aerial image
and other remote sensing data.
2.OBTAIN THE IMAGE DATA
2.1
A method of obtaining the image
data
The data source is that the map data of
every province is updating. On the one
hand, we can transform the electronic map
411
International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXIX-B1, 2012
XXII ISPRS Congress, 25 August – 01 September 2012, Melbourne, Australia
longitude of the left, top latitude, longitude
of the right, bottom latitude. The projection
of Google Earth is improved UTM, but
GETSCREEN doesn't consider the
projection. So that in large area image
dislocation will produce in downloading.
Geometric correction is needed before
using.
Through the experiment, this setup will
puzzle the dislocation before downloading.
(1)
Cancel the option
" l a n d s c a p e " o f " l a y e r Settings panel"
in Google Earth.
(2) O p e n t h e o p t i o n " o p t i o n "
o f t h e d r o p - d o w n list "tool", select
"direx" and "safe mode".
(3)
Because the screen
r e f r e s h n e e d s t i m e , increase delay
time, and generally under 1000.
(4)
Start Google Earth before
GETSCREEN.
(5) Rectify
the
"height"
of
GETSCREEN. GETSCREEN hijacks the
whole picture of Google Earth to the
window, original level of 1024 dpi images
are downed to 722 dpi, this will produce the
contraction. In this way, the image we get
is smaller than the image of Google earth.
The correction coefficient is 722/1024 =
0.705.
GetscreenHeight = GoogleEarthHeight*
0.705 Of course, the images need
registration.
°: heading overlapping degree, 02 : the
degree to overlap.
4. TRAJECTORY DESIGN
4.1 Idea
The important factors we consider in
trajectory design is image acquisition and
how import the result to UP30, MAPINFO
play a role in series, MAPBASIC solves
the role of the series which is the second
development language of MAPINFO,
because GETSCREEN is developed use
MAPBASIC, such as: coordinate system
transformation, registration, file format
conversion. After developing the trajectory
import it to UP30.
4.2 solution method of trajectory
The specific steps of generating trajectory:
(1) Draw the survey area (2) Input the
flight parameters (3) Produce dot data. The
system will automatically calculate the
flight navigation points which guide to fly
according to the specific requirements of
the homework. Hypothesis the flying area
is P1, P2, P3,
P4, P5 ... Pn , n is the point number of the
survey
area Hypothesis longitude is x axis
direction and latitude is y axis direction in
the process of calculation, the unit of
longitude and latitude is degree
3. FLIGHTPARAMETERS
Flight parameters are the foundation of air
line design, and are another big module
beyond the background picture. The most
important
parameters
are
adjacent
trajectory interval and baseline length.
Computation formula is as follows:
D = 2* H * tan($,) *(1 —
Oj) B = 2* H *tan(
XXII ISPRS Congress, 25 August – 01 September 2012, Melbourne, Australia
VISUAL UAV TRAJECTORY PLAN SYSTEM BASED ON NETWORK MAP
XiuLi Lia *, ZongJian Linb,GuoZhong Sub, BoYi Wuc
Wu Han University, Wu Han, China. [email protected]
b
Chinese Academy of Surveying and Mapping, Beijing, China. [email protected] c
Foundation Geographical Information Courtyard of Shanxi Province,Shanxi Province, China.
a
Commission I, ICWG I/V
KEY WORDS: Trajectory Planning, Image, UAV, Google earth, Map, Parameter
ABSTRACT :
The base map of the current software UP-30 using in trajectory plan for Unmanned Aircraft Vehicle is
vector diagram. UP-30 draws navigation points manually. But in the field of operation process, the
efficiency and the quality of work is influenced because of insufficient information, screen reflection,
calculate inconveniently and other factors. If we do this work in indoor, the effect of external factors on
the results would be eliminated, the network earth users can browse the free world high definition
satellite images through downloading a client software, and can export the high resolution image by
standard file format. This brings unprecedented convenient of trajectory plan. But the images must be
disposed by coordinate transformation, geometric correction. In addition, according to the requirement
of mapping scale ,camera parameters and overlap degree we can calculate exposure hole interval and
trajectory distance between the adjacent trajectory automatically . This will improve the degree of
automation of data collection. Software will judge the position of next point according to the
intersection of the trajectory and the survey area and ensure the position of point according to trajectory
distance. We can undertake the points artificially. So the trajectory plan is automatic and flexible.
Considering safety, the date can be used in flying after simulating flight. Finally we can export all of
the date using a key
.
into MAPINFO format (. GST document)
and use them as background map. On the
other hand, we can choose scanning map
whose format is grid, before using. Image
registration was needed.
2.2
Another method of obtaining the
image data
If there is no way to get known data,
another method to obtain the image data is
downloading them from Google Earth. And
the downloading image is more intuitive
than the existing map data. GETSCREEN
downloads satellite images according to the
grid you draw and automatic split joint, in
addition you can set up the height. The
format of the images is JPG and BMP, JPG
format generates a map file which contains
eleven options of the image information, as
follows: longitude of the first point, latitude
of the first point, height, the resolution X,
Y, transverse pixel, longitudinal pixel,
1.INTRODUCTION
UAV remote sensing technology takes
Unmanned Aerial Vehicle as remote
sensing
platform,
uses
Color,
Monochrome,
Infrared
photographic
technique to shoot the image,and processes
image information use the computer. It's
advantages are nimble and flexible, simple
and reliable, excellent properties, high
resolution. trajectory plan is one Basal and
important task of acquiring aerial image
and other remote sensing data.
2.OBTAIN THE IMAGE DATA
2.1
A method of obtaining the image
data
The data source is that the map data of
every province is updating. On the one
hand, we can transform the electronic map
411
International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXIX-B1, 2012
XXII ISPRS Congress, 25 August – 01 September 2012, Melbourne, Australia
longitude of the left, top latitude, longitude
of the right, bottom latitude. The projection
of Google Earth is improved UTM, but
GETSCREEN doesn't consider the
projection. So that in large area image
dislocation will produce in downloading.
Geometric correction is needed before
using.
Through the experiment, this setup will
puzzle the dislocation before downloading.
(1)
Cancel the option
" l a n d s c a p e " o f " l a y e r Settings panel"
in Google Earth.
(2) O p e n t h e o p t i o n " o p t i o n "
o f t h e d r o p - d o w n list "tool", select
"direx" and "safe mode".
(3)
Because the screen
r e f r e s h n e e d s t i m e , increase delay
time, and generally under 1000.
(4)
Start Google Earth before
GETSCREEN.
(5) Rectify
the
"height"
of
GETSCREEN. GETSCREEN hijacks the
whole picture of Google Earth to the
window, original level of 1024 dpi images
are downed to 722 dpi, this will produce the
contraction. In this way, the image we get
is smaller than the image of Google earth.
The correction coefficient is 722/1024 =
0.705.
GetscreenHeight = GoogleEarthHeight*
0.705 Of course, the images need
registration.
°: heading overlapping degree, 02 : the
degree to overlap.
4. TRAJECTORY DESIGN
4.1 Idea
The important factors we consider in
trajectory design is image acquisition and
how import the result to UP30, MAPINFO
play a role in series, MAPBASIC solves
the role of the series which is the second
development language of MAPINFO,
because GETSCREEN is developed use
MAPBASIC, such as: coordinate system
transformation, registration, file format
conversion. After developing the trajectory
import it to UP30.
4.2 solution method of trajectory
The specific steps of generating trajectory:
(1) Draw the survey area (2) Input the
flight parameters (3) Produce dot data. The
system will automatically calculate the
flight navigation points which guide to fly
according to the specific requirements of
the homework. Hypothesis the flying area
is P1, P2, P3,
P4, P5 ... Pn , n is the point number of the
survey
area Hypothesis longitude is x axis
direction and latitude is y axis direction in
the process of calculation, the unit of
longitude and latitude is degree
3. FLIGHTPARAMETERS
Flight parameters are the foundation of air
line design, and are another big module
beyond the background picture. The most
important
parameters
are
adjacent
trajectory interval and baseline length.
Computation formula is as follows:
D = 2* H * tan($,) *(1 —
Oj) B = 2* H *tan(